CN114387428A - Coal gangue identification method and device based on millimeter wave imaging and optical image and storage medium - Google Patents
Coal gangue identification method and device based on millimeter wave imaging and optical image and storage medium Download PDFInfo
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Abstract
The invention discloses a coal gangue identification method based on millimeter wave imaging and optical images, a computer device and a storage medium. The coal gangue component and the coal component in the coal ore can be displayed through the amplitude of the pixel points of the two-dimensional image; the electromagnetic scattering characteristics of the coal components and the coal gangue components are utilized to realize efficient and accurate identification, so that the interference degree of the electromagnetic scattering characteristics of the coal components and the coal gangue components is low, the millimeter waves belong to non-ionizing radiation, the human health cannot be damaged, the chemical test on coal mine stones is avoided, the pollution degree is low, and the electromagnetic scattering characteristics are environment-friendly. The invention is widely applied to the technical field of image processing.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a coal gangue identification method based on millimeter wave imaging and optical images, a computer device and a storage medium.
Background
The mined original coal ore often contains a certain amount of coal gangue, the main components of the coal gangue are Al2O3, SiO2, S and other heavy metals, and the mixture of the coal and the coal gangue can release harmful substances in the combustion process to pollute the environment, so that the separation of the coal and the coal gangue has important significance for improving the quality and the combustion efficiency of the coal, preventing the atmospheric pollution, protecting the environment and the like.
The existing coal gangue identification technology faces some technical problems. For example, the manual sorting method requires high labor cost; rays in ray casting techniques such as X-rays, gamma rays, laser rays, and the like are ionizing radiation and can damage the health of workers; the wet coal dressing is one of coal gangue identification technologies widely used at present, but a large amount of water resources are consumed, and the generated wastes such as sewage and the like cause environmental pollution. In summary, the conventional coal gangue identification method is difficult to meet the requirements of high efficiency, accuracy, safety and environmental protection at the same time.
Disclosure of Invention
In view of the above technical problems, it is an object of the present invention to provide a coal gangue identification method, a computer device and a storage medium based on millimeter wave imaging and optical images.
In one aspect, an embodiment of the present invention includes a coal gangue identification method based on millimeter wave imaging and optical images, including:
performing millimeter wave imaging on a target area of the coal ore to obtain millimeter wave data;
performing three-dimensional reconstruction on the millimeter wave data to obtain a three-dimensional image, and compressing the three-dimensional image into a two-dimensional image;
obtaining an optical image of a target area of the coal ore and extracting a profile of the coal ore;
estimating the coal content of the coal ore, and distinguishing coal from coal gangue.
Further, the millimeter wave imaging is performed on the coal mine stone to obtain millimeter wave data, and the millimeter wave imaging method includes:
setting a millimeter wave antenna array; the millimeter wave antenna array comprises a plurality of antenna array elements capable of transmitting and receiving automatically;
controlling the millimeter wave antenna array to transmit millimeter wave signals to the coal mine stone;
controlling the millimeter wave antenna array to receive echo signals reflected by the coal mine stone;
processing the echo signal to obtain a baseband signal; the baseband signal serves as the millimeter wave data.
Further, the millimeter wave signal is a chirp signal.
Further, the three-dimensional reconstruction of the millimeter wave data to obtain a three-dimensional image and compressing the three-dimensional image into a two-dimensional image includes:
performing two-dimensional Fourier transform of an imaging aperture of the antenna array element on the baseband signal;
comparing the result of the two-dimensional Fourier transform with the result of the two-dimensional Fourier transform
After multiplication, a multiplication from non-uniformity k is performedyTo uniform kyInterpolation of (3); where e denotes the base of the natural logarithm, j denotes the imaginary unit, kyRepresents the wave number, R, of the millimeter wave signal in the direction perpendicular to the plane of the millimeter wave antenna array0Representing the distance from the central point of the coal ore to the plane of the millimeter wave antenna array;
and performing three-dimensional inverse Fourier transform on the interpolation result by taking the wave number of the millimeter wave signal as a parameter to obtain the three-dimensional image.
Taking the maximum value of the three-dimensional image in the distance dimension to obtain the two-dimensional image; the distance dimension is a dimension perpendicular to a plane in which the millimeter wave antenna array is located.
Further, the obtaining an optical image of the coal ore and extracting a profile of the coal ore includes:
obtaining an optical image of the coal ore by using an optical camera;
randomly selecting a starting seed pixel;
calculating the difference between the gray values of the seed pixel and the adjacent 8 pixels, and combining the pixels in the same area;
and extracting the profile of the coal ore.
Further, the estimating the coal content of the coal ore, distinguishing coal from coal gangue, comprises:
identifying a first region and a second region in the two-dimensional image; the first area is an area formed by pixels of which the pixel value amplitude in the coal ore contour in the two-dimensional image is smaller than a threshold value, and the second area is an area formed by pixels of which the pixel value amplitude in the coal ore contour in the two-dimensional image is not smaller than the threshold value;
determining the first region as corresponding to a region of coal ore comprised of coal constituents;
determining the second region to correspond to a region of the coal ore comprised of coal gangue constituents.
Further, the coal gangue identification method based on millimeter wave imaging and optical images further comprises the following steps:
calculating a first ratio and a second ratio; the first ratio is the ratio of the area of the first region to the area within the profile of the coal mine stone, and the second ratio is the ratio of the area of the second region to the area within the profile of the coal mine stone;
determining the first ratio as the coal content in the coal ore;
and determining the second ratio as the coal gangue content in the coal ore.
Further, the coal gangue identification method based on millimeter wave imaging and optical images further comprises the following steps:
identifying coal and coal gangue in the coal ore; the coal is coal ore of which the coal content in the two-dimensional image is greater than a threshold value, and the coal gangue is coal ore of which the coal content in the two-dimensional image is not greater than the threshold value.
In another aspect, an embodiment of the present invention further includes a computer device, including a memory and a processor, where the memory is configured to store at least one program, and the processor is configured to load the at least one program to perform the coal gangue identification method based on millimeter wave imaging and optical images in the embodiment.
In another aspect, embodiments of the present invention further include a storage medium having stored therein a program executable by a processor, the program executable by the processor being configured to perform the coal gangue identification method based on millimeter wave imaging and optical images in the embodiments.
The invention has the beneficial effects that: according to the coal gangue identification method based on millimeter wave imaging and optical images, the electromagnetic wave scattering characteristics of the coal components and the coal gangue components in the coal ores to millimeter waves are obviously different, two-dimensional data are obtained by performing millimeter wave imaging on the coal mine stones and further processing, and the difference between the coal components and the coal gangue components is reflected in the pixel point value characteristics of the two-dimensional images, so that the coal gangue components and the coal components in the coal ores can be displayed through the amplitude of the pixel points of the two-dimensional images. The coal content of the coal ore can be estimated by combining a contour extraction method in the optical image, so that the coal and the coal gangue can be distinguished. Because the electromagnetic scattering characteristics of the coal components and the coal gangue components are utilized to realize efficient and accurate identification, the interference degree caused by environmental factors such as temperature and the like is low, the millimeter waves belong to non-ionizing radiation, the human health cannot be damaged, the chemical test on coal mine stones is avoided, the pollution degree is low, and the environment is protected.
Drawings
FIG. 1 is a flow chart of a coal gangue identification method based on millimeter wave imaging and optical images in an embodiment;
FIG. 2 is a schematic diagram of a coal gangue identification method based on millimeter wave imaging and optical images in the embodiment;
FIG. 3 is a diagram showing a configuration of an apparatus for performing a coal gangue identification method based on millimeter wave imaging and optical images according to an embodiment;
FIG. 4 is a schematic diagram of the operation of the apparatus of FIG. 3;
FIG. 5 is a diagram of a coal mine stone object for millimeter wave imaging in the embodiment;
FIG. 6 is a schematic diagram of a two-dimensional image obtained by millimeter wave imaging processing of a coal mine stone real object in the embodiment;
FIG. 7 is a diagram illustrating the effect of contour extraction performed on FIG. 6;
FIG. 8 is a graph of the effect of identifying and marking the coal content of FIG. 6.
Detailed Description
In this embodiment, referring to fig. 1, the coal gangue identification method based on millimeter wave imaging and optical images includes the following steps:
s1, performing millimeter wave imaging on a target area of the coal ore to obtain millimeter wave data;
s2, performing three-dimensional reconstruction on the millimeter wave data to obtain a three-dimensional image, and compressing the three-dimensional image into a two-dimensional image;
s3, obtaining an optical image of a target area, and extracting the outline of the coal ore;
and S4, estimating the coal content of the coal ore, and distinguishing coal from coal gangue.
When the step S1 is executed, that is, the step of performing millimeter wave imaging on the coal mine stone to obtain millimeter wave data, the following steps may be specifically executed:
s101, arranging a millimeter wave antenna array; the millimeter wave antenna array comprises a plurality of antenna array elements which are capable of sending and receiving automatically;
s102, controlling a millimeter wave antenna array to transmit millimeter wave signals to a coal mine stone;
s103, controlling a millimeter wave antenna array to receive echo signals reflected by the coal ore;
s104, processing the echo signal to obtain a baseband signal; the baseband signal is taken as millimeter wave data.
In step S1, the target region of the coal ore may be a region to which signals are transmitted by the millimeter wave antenna array, and in step S3, the field of view is set to include the target region when the optical image is obtained.
In step S101, a millimeter wave antenna array may be set with reference to fig. 2. In fig. 2, the millimeter wave antenna array includes multiple antenna elements for transmitting and receiving signals, and each antenna element is represented by a black dot. The antenna array elements are all arranged on a plane, and a rectangular array is formed among the antenna array elements in a distributed mode. The ellipsoid in fig. 2 represents a piece of coal ore. An xyz space rectangular coordinate system is established by taking one point in the coal ore as an origin, specifically, the geometric center of the coal ore as the origin, wherein an axis perpendicular to the plane of the millimeter wave antenna array is a y axis, the plane formed by the x axis and the z axis is parallel to the plane of the millimeter wave antenna array, and the antenna array elements are respectively arranged along the direction parallel to the x axis and the z axis. Fixing the positions and the orientations of the millimeter wave antenna array and the coal ore, and after a coordinate system is established, setting the distance from the center of gravity of the coal mine stone to the plane where the millimeter wave antenna array is located as a fixed value R0. The point on the surface of the coal mine stone can be expressed as coordinates (x, y, z), and the position of the antenna array element can be expressed as coordinates (x', R)0，z′)。
In step S102, the used millimeter wave antenna array uses an active millimeter wave imaging technology, and can actively transmit a millimeter wave signal to the coal ore, and then in step S103, the millimeter wave antenna array receives an echo signal reflected by the coal ore. Among them, a chirp signal having a frequency of 30GHz to 100GHz may be used as the millimeter wave signal. The millimeter wave antenna array of the passive millimeter wave imaging technology can also be used, and the millimeter wave antenna array does not transmit millimeter wave signals to the coal mine stone, but only receives millimeter wave signals radiated or reflected by the coal mine stone.
In step S104, the millimeter wave antenna array sends the received echo signal to a computer or a dedicated device, and the computer or the dedicated device performs noise reduction, demodulation, and the like on the echo signal to obtain a baseband signal. The obtained baseband signal may be used as millimeter wave data to be processed in steps S2-S4, and thus the baseband signal and millimeter wave data may not be distinguished in the present embodiment.
When step S2 is executed, that is, the step of performing three-dimensional reconstruction on the millimeter wave data, obtaining a three-dimensional image, and compressing the three-dimensional image into a two-dimensional image, the following steps may be specifically executed:
s201, performing two-dimensional Fourier transform of an imaging aperture of an antenna array element on a baseband signal;
s202, performing two-dimensional Fourier transform on the result and
after multiplication, a multiplication from non-uniformity k is performedyTo uniform kyInterpolation of (3);
and S203, performing three-dimensional inverse Fourier transform with the wave number of the millimeter wave signal as a parameter on the interpolation result to obtain a three-dimensional image.
The principle of steps S201-S203 can be expressed by the following formula:
in this equation, g (x, y, z) represents a value at a point (x, y, z) on the surface of the coal ore corresponding to the reconstructed three-dimensional image in the coordinate system shown in fig. 2, and therefore, when the coordinates (x, y, z) in g (x, y, z) traverse a part or the whole of the surface of the coal ore, the whole of g (x, y, z) can represent a three-dimensional image. s (x ', z', k) represents millimeter wave data at (x ', z'), k being 2 pi f/c, where f is the frequency of the millimeter wave signal and c is the speed of light.
FFTx，z{. denotes the two-dimensional Fourier transform, FFT, of the imaging aperturex，z[s(x′，z′，k)]It is shown that the baseband signal S (x ', z', k) is subjected to two-dimensional fourier transform in the xz plane in step S201.
Factor(s)
Where e denotes the base of the natural logarithm, j denotes the unit of an imaginary number, kyIndicating that the millimeter wave signal is positioned perpendicular to the millimeter wave antenna arrayThe wave number in the plane direction, i.e., the y direction in FIG. 2, i.e., the component of the millimeter wave signal having the wave number k in the y axis, and likewise, the component k having the wave number k in the x axisxAnd the component k of the wave number k in the z-axiszSatisfy the following requirements
The principle of steps S201-S203 is: the three-dimensional image g (x, y, z) to be obtained may actually be understood as a scattering coefficient of a coal mine stone surface point (x, y, z), and when the wave number of the millimeter wave signal is k, a point (x ', z') on the millimeter wave antenna array (where the y coordinate of the point on the millimeter wave antenna array is a fixed value, which may not be considered) may be represented as a complex signal s (x ', z', k), so that s (x ', z', k) — (— (x, y, z) e) may be represented as s (x ', z', k) — (—) — (x, y, z) e)-j2kRdxdydz, the integral limit of the triple integral is part or all of the surface of the coal mine stone, wherein R represents the direct two-way distance from the target to the array element, and the requirement is met
The corresponding frequency domain signal can be obtained by performing two-dimensional fourier transform on the horizontal dimension, i.e., the x direction in fig. 2, and the vertical dimension, i.e., the z direction in fig. 2, of the baseband complex signal s (x ', z', k), which is expressed by the formula:
based on the stationary phase principle, one can obtain:
thus, the reconstructed three-dimensional image can be represented as:
and S204, extracting two-dimensional data from the three-dimensional image in a direction parallel to the plane where the millimeter wave antenna array is located, and obtaining a two-dimensional image.
In step S204, two-dimensional data corresponding to y coordinates as fixed values may be extracted from the three-dimensional image, each fixed value of the y coordinates corresponds to one two-dimensional image, and one or more two-dimensional images may be extracted from the three-dimensional image by setting one or more specific y coordinate values. Alternatively, the two-dimensional data at the position with the largest distance dimension, that is, the two-dimensional data with the largest corresponding y-coordinate value, may be extracted from the three-dimensional image as the two-dimensional image.
In the coal ore, the coal component and the coal gangue component have obvious difference on the electromagnetic wave scattering characteristics of the millimeter waves, so that the data characteristics of the part corresponding to the echo signal formed by the millimeter wave reflected by the coal component and the part corresponding to the echo signal formed by the millimeter wave reflected by the coal gangue component in the three-dimensional data obtained by the millimeter wave imaging processing are also obviously different, and the data characteristics can be embodied in the pixel point value characteristics of the two-dimensional image.
In performing step S3, namely, obtaining an optical image of the coal ore and extracting the outline of the coal ore, the following steps may be specifically performed:
s301, obtaining an optical image of the coal ore through an optical camera;
s302, scanning the optical image randomly, finding a pixel which is not endowed with an attribute as a seed pixel, and setting the pixel as (x0, y 0);
s303, with (x0, y0) as a center, judging whether the absolute value of the difference between the gray values of the 8 neighborhood pixels (x, y) of (x0, y0) and the seed pixels is smaller than a certain threshold value, if the conditions are met, combining (x, y) and (x0, y0), and simultaneously pressing (x, y) into a stack;
s304, taking out a pixel from the stack, and returning the pixel to the step S303 as (x0, y 0);
s305, returning to the step S302 when the stack is empty;
s306, repeating the steps S302-S305 until each point in the optical image has attribution, and ending the growth.
By performing steps S301 to S306, the contour of the coal ore in the optical image can be obtained, and the contour of the coal ore in the millimeter wave image can be determined.
In the step S4, namely, estimating the coal content of the coal ore and distinguishing coal from coal gangue, the following steps may be specifically performed:
s401, identifying a first area and a second area in a two-dimensional image; the first area is an area formed by pixels of which the pixel value amplitude is smaller than a threshold value in the two-dimensional image, and the second area is an area formed by pixels of which the pixel value amplitude is not smaller than the threshold value in the two-dimensional image;
s402, determining the first area as an area consisting of coal in corresponding coal ore;
and S403, determining the second area as an area consisting of coal gangue in the corresponding coal ore.
The amplitude of each pixel point in the two-dimensional image can be represented by a gray value of 0-255, and can also be represented by a numerical value of 0-1 after normalization. In step S401, the amplitude of each pixel point in the two-dimensional image may be represented by a normalized value 0-1, where 0 represents the deepest and 1 represents the shallowest. A threshold value, for example, 0.6, may be set, and if the pixel value amplitude of a pixel point in the two-dimensional image is smaller than the threshold value, it may be determined that the pixel point belongs to the first region, otherwise, it may be determined that the pixel point belongs to the second region, so that the two-dimensional image is divided into the first region and the second region. In this embodiment, the millimeter wave echo signals reflected by the coal component in the coal ore correspond to deeper pixel points, and the millimeter wave echo signals reflected by the coal gangue component in the coal ore correspond to shallower pixel points, so in step S402, the first region is determined to correspond to the region composed of coal in the coal ore, and in step S403, the second region is determined to correspond to the region composed of coal gangue in the coal ore. After the two-dimensional image is output, whether the two-dimensional image is identified by naked eyes or by a computer image, the part corresponding to the coal component and the part corresponding to the coal gangue component in the two-dimensional image can be intuitively and quickly judged.
In this embodiment, on the basis of executing steps S1-S4, the following steps may be further executed:
s404, calculating a first ratio
And a second ratio
In step S404, S1Is the area of the first region, S, within the coal ore profile2The area of the second region within the coal ore profile can be approximated by considering the mass ratio of coal to gangue in the coal mine to be uniformly distributed, without considering the y-axis dimension, so that the first ratio
Can represent the coal content in the coal ore, the second ratio
Can represent the coal gangue content in the coal ore, the coal and coal gangue content in the coal mine can be estimated without performing an assay on the coal ore by performing step S404.
S405, if the coal content in a certain coal ore is larger than a certain threshold value, judging that the certain coal ore belongs to coal; otherwise, the coal gangue belongs to the coal gangue.
In this embodiment, the device shown in fig. 3 may be used instead of the millimeter wave antenna array shown in fig. 2 to execute the coal gangue identification method based on millimeter wave imaging and optical images in this embodiment. In fig. 3, l denotes a coal ore, 2 denotes a one-dimensional millimeter wave antenna array, 3 denotes an optical camera, 4 denotes a conveyor belt, 5 denotes a computer, and 7 denotes an antenna array support. The plane formed by the conveyor belt 4 is parallel to the xz plane, and the one-dimensional millimeter wave antenna array 2 includes a plurality of millimeter wave antenna elements distributed along the x axis. The computer 5 can control the work of the one-dimensional millimeter wave antenna array 2, the optical camera 3 and the conveyor belt 4, and the antenna array bracket 7 can support the one-dimensional millimeter wave antenna array 2 above the plane R where the conveyor belt is located0To (3).
The coal ore 1 is placed on the conveyor belt 4, and when the conveyor belt moves along the z-axis direction, the multiple coal ores 1 placed on the conveyor belt 4 move relative to the one-dimensional millimeter wave antenna array 2, which is equivalent to that the one-dimensional millimeter wave antenna array 2 sweeps across multiple coal mines 1 placed on the conveyor belt 4, when the conveyor belt moves along the z-axis direction, so that as shown in fig. 4, the one-dimensional millimeter wave antenna array 2 is equivalent to a two-dimensional millimeter wave antenna array parallel to the xz plane, thereby forming the position relationship between the millimeter wave antenna array and the coal mines shown in fig. 2. According to the above description of the principle of the coal gangue identification method based on millimeter wave imaging and optical images, it can be seen that the device shown in fig. 3 can execute the coal gangue identification method based on millimeter wave imaging and optical images in the present embodiment, and the one-dimensional millimeter wave antenna array 2 is equivalent to a two-dimensional millimeter wave antenna array by the movement of the conveyor belt 4, so that the arrangement of excessive millimeter wave antenna array elements can be avoided, and the complexity of the device can be reduced.
The feasibility of the coal gangue identification method based on millimeter wave imaging and optical images in the embodiment is verified through experiments. Adopting millimeter wave signals of a 32-37 GHz frequency band, adopting linearly polarized waveguide slot antennas as antenna array elements, wherein 383 sampling points are arranged in the vertical direction, the sampling interval is 5mm, 251 sampling points are arranged in the horizontal direction, and the sampling interval is 4 mm; that is, each column of the antenna array elements distributed along the z-axis in fig. 2 includes 383 antenna array elements, the distance between two adjacent antenna array elements is 5mm, each row of the antenna array elements distributed along the x-axis includes 251 antenna array elements, and the distance between two adjacent antenna array elements is 4 mm.
To improve efficiency, 25 coal ores may be nested on a foam board, placed parallel to the mm-wave antenna array, with a distance of 0.5m between the foam board and the mm-wave antenna array, as shown in fig. 5. Therefore, the millimeter wave antenna array can be controlled to simultaneously carry out millimeter wave imaging on 25 coal ores, and imaging on each coal ore block by block is not needed. Meanwhile, 25 coal ores are imaged, and the two-dimensional image obtained through the processing of the steps S1-S3 can be divided into 25 parts, wherein each part corresponds to a corresponding coal mine stone.
In fig. 5, each coal ore is marked, and among them, coal is marked with symbol "C" and coal gangue is marked with symbol "S", and coal ore which cannot be distinguished is marked with symbol "? "marking.
The results of simultaneous millimeter wave imaging of 25 coal ores as shown in fig. 5 are shown in fig. 6. As can be seen from FIG. 6, the pixel amplitudes of coal and coal gangue are clearly different, which indicates the feasibility of steps S1-S2.
The contour extraction was performed on fig. 5, and the obtained result is shown in fig. 7. As can be seen in fig. 7, the sampled contour extraction algorithm can accurately extract the contour of the coal ore from the optical image of the coal mine stone, indicating the feasibility of step S3.
Intuitively, one could take a fixed threshold to distinguish between coal and coal gangue components in the coal ore, for example setting the threshold to 0.6. Under the condition that the edges of the ores are clear and distinguishable, the coal content of each ore can be further estimated according to the distribution of the pixel amplitude, and the coal content is marked at the upper left corner of each coal ore in the figure 6 to obtain a visual display result shown in the figure 8, so that a person in the technical field can quickly know the coal content and the coal gangue content of each coal ore from the figure 8.
Meanwhile, as can be seen from fig. 5 and 8, the coal content of the coal and the coal gangue are obviously different, and a fixed threshold value can be set to distinguish the coal and the coal gangue, for example, the threshold value is set to be 0.65. And when the coal content is more than 0.65, judging that the lump coal ore is coal, otherwise, judging that the lump coal ore is coal gangue.
The coal gangue identification method based on millimeter wave imaging and optical images in the embodiment can be implemented by writing a computer program for implementing the coal gangue identification method based on millimeter wave imaging and optical images in the embodiment, writing the computer program into a computer device or a storage medium, and executing the coal gangue identification method based on millimeter wave imaging and optical images in the embodiment when the computer program is read out and run, so that the same technical effects as the coal gangue identification method based on millimeter wave imaging and optical images in the embodiment are achieved.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, etc. used in the present disclosure are only relative to the mutual positional relationship of the constituent parts of the present disclosure in the drawings. As used in this disclosure, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. In addition, unless defined otherwise, all technical and scientific terms used in this example have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description of the embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this embodiment, the term "and/or" includes any combination of one or more of the associated listed items.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language ("e.g.," such as "or the like") provided with this embodiment is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, operations of processes described in this embodiment can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described in this embodiment (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described in this embodiment includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described in the present embodiment to convert the input data to generate output data that is stored to a non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. A coal gangue identification method based on millimeter wave imaging and optical images is characterized by comprising the following steps:
performing millimeter wave imaging on a target area of the coal ore to obtain millimeter wave data;
performing three-dimensional reconstruction on the millimeter wave data to obtain a three-dimensional image, and compressing the three-dimensional image into a two-dimensional image;
obtaining an optical image of the target area and extracting the outline of the coal ore;
estimating the coal content of the coal ore, and distinguishing coal from coal gangue.
2. The coal gangue identification method based on millimeter wave imaging and optical images as claimed in claim 1, wherein the millimeter wave imaging of the target region of the coal ore to obtain millimeter wave data comprises:
setting a millimeter wave antenna array; the millimeter wave antenna array comprises a plurality of antenna array elements capable of transmitting and receiving automatically;
controlling the millimeter wave antenna array to transmit millimeter wave signals to the coal mine stone;
controlling the millimeter wave antenna array to receive echo signals reflected by the coal mine stone;
processing the echo signal to obtain a baseband signal;
the baseband signal serves as the millimeter wave data.
3. The coal gangue identification method based on millimeter wave imaging and optical images as claimed in claim 2, wherein the millimeter wave signal is a chirp signal.
4. The coal gangue identification method based on millimeter wave imaging and optical images as claimed in claim 2, wherein the three-dimensional reconstruction of the millimeter wave data to obtain a three-dimensional image comprises:
performing two-dimensional Fourier transform of an imaging aperture of the antenna array element on the baseband signal;
comparing the result of the two-dimensional Fourier transform with the result of the two-dimensional Fourier transform
After multiplication, a multiplication from non-uniformity k is performedyTo uniform kyInterpolation of (3); where e denotes the base of the natural logarithm, j denotes the imaginary unit, kyRepresents the wave number, R, of the millimeter wave signal in the direction perpendicular to the plane of the millimeter wave antenna array0Representing the distance from the central point of the coal ore to the plane of the millimeter wave antenna array;
and performing three-dimensional inverse Fourier transform on the interpolation result by taking the wave number of the millimeter wave signal as a parameter to obtain the three-dimensional image.
5. The coal gangue identification method based on millimeter wave imaging and optical images as claimed in claim 1, wherein the extracting a two-dimensional image from the three-dimensional image comprises:
extracting two-dimensional data from the three-dimensional image in a direction parallel to a plane where the millimeter wave antenna array is located to obtain the two-dimensional image; the two-dimensional image is two-dimensional data at the position with the largest distance dimension in the three-dimensional image; the distance dimension is a dimension perpendicular to a plane in which the millimeter wave antenna array is located.
6. The coal gangue identification method based on millimeter wave imaging and optical images as claimed in claim 1, wherein the obtaining of the optical image of the target area and the extraction of the profile of the coal ore comprises:
obtaining an optical image of the coal ore by using an optical camera;
randomly selecting a starting seed pixel;
calculating the difference between the gray values of the seed pixel and the adjacent 8 pixels, and combining the pixels in the same area;
and extracting the profile of the coal ore.
7. The coal gangue identification method based on millimeter wave imaging and optical images as claimed in claim 1, wherein said estimating coal content of coal ore, distinguishing coal from coal gangue, comprises:
identifying a first region and a second region in the two-dimensional image; the first area is an area formed by pixels of which the pixel value amplitude in the coal ore contour in the two-dimensional image is smaller than a threshold value, and the second area is an area formed by pixels of which the pixel value amplitude in the coal ore contour in the two-dimensional image is not smaller than the threshold value;
determining the first region as corresponding to a region of coal ore comprised of coal constituents;
determining the second region to correspond to a region of the coal ore comprised of coal gangue constituents.
8. The coal gangue identification method based on millimeter wave imaging and optical images as claimed in claim 7, wherein said estimating coal content of coal ore, distinguishing coal from coal gangue, further comprises:
calculating a first ratio and a second ratio; the first ratio is the ratio of the area of the first region to the area within the profile of the coal mine stone, and the second ratio is the ratio of the area of the second region to the area within the profile of the coal mine stone;
determining the first ratio as the coal content in the coal ore;
determining the second ratio as the coal gangue content in the coal ore;
judging the coal mine stones with the coal content larger than a threshold value as coal;
and judging the coal mine stones with the coal content not greater than the threshold value as coal.
9. A computer device, characterized by comprising a memory for storing at least one program and a processor for loading the at least one program to execute the coal gangue identification method based on millimeter wave imaging and optical images as set forth in any one of claims 1 to 8.
10. A storage medium having stored therein a processor-executable program, wherein the processor-executable program, when executed by a processor, is configured to perform the coal gangue identification method based on millimeter wave imaging and optical images according to any one of claims 1 to 8.
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